NTI AG LinMot E1030 Series User manual

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 1/12
Installation Guide
Controller Series E1030/E2030/E4030
Products
E1030-DP
E2030-DP
E4030-DP
Content
IMPORTANT NOTES FOR E1030/E2030/E4030 SERIES CONTROLLERS .............. 2
SYSTEM OVERVIEW............................................................................................................. 3
E1030 SERIES FUNCTION AND WIRING......................................................................... 4
POWER SUPPLY AND GROUNDING ................................................................................ 5
DESCRIPTION OF THE CONNECTORS / INTERFACES .............................................. 6
MECHANICAL DIMENSION ................................................................................................. 9
POWER SUPPLY REQUIREMENT ................................................................................... 10
ORDERING INFORMATION ............................................................................................... 10
DECLARATION OF CONFORMITY CE-MARKING ....................................................... 11
ERROR CODES .................................................................................................................... 12
CONTACT ADDRESSES .................................................................................................... 12

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 2/12
Important notes for E1030/E2030/E4030 series controllers
CAUTION !!
In order to assure a safe and error free operation, and to avoid
severe damage to system components, all system components
must be directly attached to a single ground bus that is earth or
utility grounded.
Each system component should be tied directly to the ground bus
(star pattern), rather than daisy chaining from component to
component. (LinMot motors are properly grounded through their
power cables when connected to LinMot controllers.)
All connectors must not be connected or disconnected while DC
voltage is present. Do not disconnect system components until all
LinMot controller LED’s have turned off. (Capacitors in the power
supply may not fully discharge for several minutes after input
voltage been disconnected). Failure to observe these precautions
may result in severe damage to electronic components in LinMot
motors and/or controllers.
Do not switch Power Supply DC Voltage. All power supply switching
and E-Stop breaks should be done to the AC supply voltage of the
power supply.
Do not connect or disconnect the motors from controllers with
voltage present. Wait to connect or disconnect motors until all
LinMot controller LED’s have turned off. (Capacitors may not fully
discharge for several minutes after power has been turned off).
Failure to observe these precautions may result in severe damage
to electronic components in LinMot motors and/or controllers.
© 2004 NTI Ltd
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including
photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole
or in part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.
Note
The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.
NTI AG. reserves itself the right to make changes at any time and without notice to reflect further technical advance or product
improvement.

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 3/12
System Overview
+
-
nc
5
4
3
2
1
9
8
7
6
5
4
3
2
1
9
8
7
6
Fault Ready
Stat A Stat B
10
1
10
1
10
1
10
1
Mot A
-->
Mot B
-->
Mot C
-->
Bus Id
--> -->
Mot D
-->
Com
--> -->
DP
-->-->
PWR
Motor
-->
Signal
--> -->
Power Supply
Motor
48 ... 72 V
From AC Mains
1x115V AC
1x230V AC
RS232
Interface
to PC for
Configuration
Linear Motor with internal Position Feedback
Power Supply
Signal
24 ... 48 V
Profibus-DP
address
Profibus-DP
Interface
From AC Mains
1x115V AC
1x230V AC
Power Supply Signal
Power Supply Motor
ID High
ID Low
Complete E4030 Controller based system (E1030 and E2030 controllers will only drive one
respectively two motors). Power Supply for Signal and Motor may be the same device (see later).

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 4/12
E1030 series Function and Wiring
Picture shows typical wiring of a single axes controller. Multiple axes controller will have additional motor
connectors.

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 5/12
Power Supply and Grounding
+
-
nc
5
4
3
2
1
9
8
7
6
5
4
3
2
1
9
8
7
6
Fault Ready
Stat A Stat B
10
1
10
1
10
1
10
1
Mot A
-->
Mot B
-->
Mot C
-->
Bus-Id
--> -->
Mot D
-->
Com
--> -->
DP
-->-->
PWR
Motor
-->
Signal
--> -->
ID High
ID Low
=
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformer with Rectifier Bridge
+
24...48VDC
AC-Mains
- Circuit Breaker
- Fuse
AC-Mains
- Circuit Breaker
- Fuse
Emergency
Stop Breaker
-
=
Galvanically Isolated Power Supply:
- Switch Mode Power Supply
- Transformer with Rectifier Bridge
+
48...72VDC
-
PE
PWR signal
Power Supply signal
Power Supply motor
PWR motor
GND
GND
Ground Bus
Instead of two separated power supplies it may be possible to use only one power supply of 48V if
there is no need to control the signal power supply (logical devices of the controller) and the power
supply of the powerstage for the motors independently (see safety rules of the application).
In order to assure a safe and error free operation, and to avoid severe damage to
system components, all system components must be well grounded to either a
single earth or utility ground. This includes both LinMot and all other control system
components to the same ground bus.
Each system component should be tied directly to the ground bus (star pattern), rather
than daisy chaining from component to component. (LinMot motors are properly
grounded through their power cables when connected to LinMot controllers.)
Power supply connectors must not be connected or disconnected while DC
voltage is present.Do not disconnect system components until all LinMot controller
LED’s have turned off. (Capacitors in the power supply may not fully discharge for
several minutes after input voltage been disconnected).Failure to observe these
precautions may result in severe damage to electronic components in LinMot motors
and/or controllers.
Do not switch Power Supply DC Voltage. All power supply switching and E-Stop
breaks should be done to the AC supply voltage of the power supply. Failure to observe
these precautions may result in severe damage to controller.

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 6/12
Description of the connectors / Interfaces
Power Supply
Power Connector Motor
1 GND
2 +
Power Connector Signal
1 PWR Signal+
2 GND
Power Connector
Motor
GND
48...72VDC
GND internally
connected to
controller housing
Internal
Fuse 10AT
Supply GND
must be externally
connected to earth
GND
12
PWR Motor +
48...72VDC
Power Connector
Signal
GND
24...48VDC
GND internally
connected to
controller housing
Supply GND
must be externally
connected to earth
1
GND
3
24...48VDC
Internal
Fuse 500mAT
PWR Signal +
23
1
Power Supply Motor:
Wiring: 2.5 mm²(AWG12), max length 5 m
Supply Voltage 48...72 VDC. Absolute max. Rating 72VDC + 5%
Supply voltage for PWR Signal and PWR Motor may be different
Motor Supply GND must be externally connected to earth
Power Supply Signal:
Wiring: 1.5 mm²(AWG16), max length 5 m
Supply Voltage 24...48VDC. Absolute max. Rating 48VDC + 10%
Supply voltage for PWR Signal and PWR Motor may be different
Motor Supply GND must be externally connected to earth
Caution:
By exceeding 53VDC Power Supply Signal, the controller will go into error state, voltage higher than 55
VDC will damage the controller!
By exceeding 76 VDC Motor Supply Signal, the controller will go into error state, voltage higher than 79
VDC will damage the controller!
Do not switch Power Supply DC Voltage. All power supply switching and E-Stop breaks should be done
to the AC supply voltage of the power supplies
Power supply connectors must not be connected or disconnected while DC voltage is present.
LED State Display
Fault Ready
Stat A Stat B
Ready Green
Stat A Yellow
Stat B Yelllow
Fault red
READY The system has started correctly
STAT A Coding for the actual operating state
STAT B Coding for the actual operating state
The display of the various operating states is shown on the last page of this manual.
FAULT An error has occurred
(In the state ERROR a blink code of the STAT LEDs A and B tells what the actual
error is. The blink codes are explained in chapter ‘Service’of the user Manual.)

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 7/12
Mot A (B,C,D) Motor Connector
10
1
Cosine Sine AGND +5VDC Phase 2- Phase 2+ Phase 1- Phase 1+
2k2 2k2 10k
Temp.
+5VDC
black
green
yellow
inner shield
grey
blue
pink
white
red
Outer shield connected
GND GND
+5VDC
Mot A (B,C,D)
GND
Extension Cable
2134 7658910
Note:
- Use only special double-shielded Linear Motor Cable (see datasheet ‘extension cables’)
- Use +5V (Pin 3) and AGND (Pin 6) only for motor internal Hall Sensor supply (max. 100mA).
- Do NOT connect AGND (Pin 6) to ground or earth!
- Inner shield (AGND) and outer shield (earth) must be isolated to each other.
Caution:
- Wrong Motor wiring may damage Linear Motors and/or Servo Controller.
- If you are assembling motor cables by your own, double check motor wiring carefully before power up.
Do not connect or disconnect the motors from controllers with voltage present. Wait to connect or dis-
connect motors until all LinMot controller LED’s have turned off. (Capacitors may not fully discharge for
several minutes after power has been turned off).Failure to observe these precautions may result in se-
vere damage to electronic components in LinMot motors and/or controllers. Depending on the
environment the outer shield of the motor cable should be directly connected to the control cabinet
where the controller is built in to get the best emc results.
Com COM (RS-232)
5
4
3
2
1
9
8
7
6
DSUB-9 (male)
GND
GND
6
1274
8
395
RS-232 TX
1k0
RS-232 RX
RS232: 9.6kBaud, use 1:1 connection cable to PC

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 8/12
DP Profibus Connector
DSUB-9 (female)
Isolated 5V output: max 50 mA
Profibus ID
ID High
ID Low
ID 1 : Profibus address high
ID 2 : Profibus address low

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 9/12
Mechanical Dimension
Dimensions
295
64
90
330
179
Centers
315
Fixings for
2 x M5 screws
Recommended mounting for multiple controller installation
Fixings for
2 x M5 screws
LinMot
®
-E4000
Dimensions in mm
50
50 100
100
LinMot
®
-E4000
50
50
LinMot
®
-E4000
100

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 10/12
E1030
Single axes controller
E2030
2 axes controller
E4030
4 axes controller
Width mm (in) 90 (3.5)
Height mm (in) 330 (13)
Height without fixings mm (in) 295 (11.9)
Depth mm (in) 176 (7)
Weight Kg (lb) 2.5 (5.5) 2.6 (5.7) 2.7 (5.9)
Case IP 40
Storage Temperature °C -25…70
Operating Temperature °C 0…50
Max. Case Temperature °C 65
Power Supply Requirement
Power Supply motor
The calculation of the needed power for the Motor supply is depending on the application and the used motor(s).
The following table shows a recommendation for general applications.
Controller Voltage/ Power LinMot Switched- Power Supply Part-Nr.
E1000 1 motor 72 V / 300 W S01-72/300 0150-1942
E2000 Up to 2 motors 72 V / 600 W S01-72/600 0150-1943
E4000 Up to 4 motors 72 V / 600 W S01-72/600 0150-1943
Power Supply signal
24 …48 V / 10 W
Regeneration of Power
The Exxxx controller don’t use a regeneration resistor. In most application the recuperated energy will not become
an issue. In cases where the motor power supply voltage will exceeds the voltage limits because of recuperation
an additional capacitor between ‘PWR motor’and ‘GND’should be used. Typical: 22’000 uF.
Ordering Information
Servo Controller Description Art. No.
E1030-DP Profibus DP Controller 1 Axis (72V/6A) 0150-1625
E2030-DP Profibus DP Controller 2 Axis (72V/6A) 0150-1626
E4030-DP Profibus DP Controller 4 Axis (72V/6A) 0150-1628

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 11/12
Declaration of Conformity CE-Marking
Manufacturer: NTI AG
LinMot ®
Haerdlistrasse 15
8957 Spreitenbach
Switzerland
Tel.: [phone]
Fax: [phone]
Products: LinMot ® Controllers
Type Art.-No. Type Art-No. Type Art.-No.
E1030-DP 0150-1625
E2030-DP 0150-1626
E4030-DP 0150-1628
The product must be mounted and used in strict accordance with the installation instruction contained
within the User’s Manual, a copy of which may be obtained from NTI Ltd.
I declare that as the authorized representative, the above information in relation to the
supply/manufacture of this product is in conformity with the stated standards and other related
documents in compliance with the protection requirements of the EMC Directive (89/336/EEC) and is
marked in accordance with the CE Marking Directive (93/68/EEC).
Standards Complied with:
EMI EN 55011 Class A
EN 61000-6-4
Electromagnetic EN 61000-4-2 4 kV / 8kV
Suspectibility EMC EN 61000-4-4 1 kV / 2kV
EN 61000-6-2 EN 61000-4-3 10 V/m
EN 61000-4-6 10 V
ENV 50204 10 V/m
Company
NTI Ltd.
Zürich, February 24, 2003
-----------------------------------------------------------
R. Rohner / CEO NTI Ltd.

Controller Series E1030/2030/4030
NTI AG Installation: E1030/E2030/E4030 series / 16.09.2005 Page 12/12
Error codes
Error display When an error occurs it is displayed by means of the blinking of at least one of the four
LEDs on the front of the servo controller.
Ready LED The Ready LED is ON as soon as the supply voltage for the processor is guaranteed and
the system has started up correctly. Communication with the PC over the serial interface is only
possible when this LED is ON.
The following table summarizes the blink codes and their meaning:
F
LED Description
Fault Stat A Stat B
l
ll
l~ 3Hz HW system error: Hardware error in the servo controller.
2x l
ll
l~ 1Hz SW1 System error: Software error in the servo controller. The system
software wasn’t loaded successfully.
l
ll
l~ 1Hz
off off
SW2 System error: Software error in the servo controller. The system
software wasn’t loaded successfully.
On l
ll
l~ 2Hz l
ll
l~ 2Hz Generic fault: The exact error message may be displayed
with the error inspector.
2x l
ll
lThe supply voltage for the Power circuitry is too low.
3x l
ll
lThe supply voltage for the Power circuitry is too high.
4x l
ll
lThe supply voltage for the Signal circuitry is too low.
5x l
ll
lThe supply voltage for the Signal circuitry is too high.
n
6x l
ll
lThe servo controller is too hot.
8x l
ll
lApplication Software Error (see Manual)
1x l
ll
lThe motor is overloaded.
2x l
ll
lThe motor is too hot.
3x l
ll
lFollowing error.
4x l
ll
lThe slider is missing from the motor.
6x l
ll
lThe initialization was not completed successfully.
7x l
ll
lIncorrect motor type configured or damaged motor.
On
1x l
ll
l: Mot A
2x l
ll
l: Mot B
3x l
ll
l: Mot C
4x l
ll
l: Mot D
8x l
ll
lA referenced motion profile for a motor is missing. Selected motion
profile not valid for actual drive type.
on LED is ON lLED blinks shortly (ca. ¼s)
off LED is OFF nLED blinks longer (ca. 1½s)
Contact Addresses
NTIAG
LinMot Tel. [phone]
Haerdlistrasse 15 Fax. [phone]
CH-8957 Spreitenbach email: [email protected]om
Switzerland Web: www.LinMot.com
LinMot Inc.
N2444 Broad Street Phone [phone] or 262-728-2699
Delavan Fax: [phone] or 262-740-0141
WI 53115 email: [e-mail]
USA Web: www.LinMot.com